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Hi,
a 6ya Technician can help you resolve that issue over the phone in a minute or two.
Best thing about this new service is that you are never placed on hold and get to talk to real repair professionals here in the US. click here to Talk to a Technician (only for users in the US for now) and get all the help you need. Goodluck!

There are sensors that tell if covers are in place. Some sensors are photocells, some are little switches. A tab will interrupt the photocell or push the switch. If the tab has broken off, make a new one. The fun part is finding the sensor.

1) With the printer power turned off, while pressing the Resume/Cancel button, press and hold the Power button.(DO NOT release the buttons. The Power LED lights in green to indicate that a function is selectable.)2) While holding the Power button, release the Resume/Cancel button. (DO NOT release the Power button.)3) While holding the Power button, press the Resume/Cancel button 2 times, and then release both the Power andResume/Cancel buttons. (Each time the Resume/Cancel button is pressed, the Alarm and Power LEDs lightalternately, Alarm in orange and Power in green, starting with Alarm LED.)4)
When the Power LED lights in green, press the Resume/Cancel button 4 times (Waste ink counter resett)

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there are two ways you can remove the error message from your printer..

the
first is to reset the printer and the second is to replace the waste ink
absorber. If the reset thing did not work for your then you'll be
spending money to replace the absorber.

How to reset? follow these steps1. Turn off your printer2. Press and hold the
STOP/RESET button3. Press and hold Power ON button4. While
holding the Power ON button, release the STOP/RESET button5. While
holding still the Power ON button, press twice the STOP/RESET button6.
Release the Power ON button7. Wait until it display an "idle"
message. It will take about a minute.8. When "idle" appear, open
the top cover to expose the cartridges.9. Lift up the cover for
cartridge holder and take out both the black and color cartridges10.
Return the cover of cartridge holder and turn off the printer11.
Return the top cover and turn on the printer again12. After the
printer initialize, return the cartridges.

The machine has a built-in ink absorber to hold the ink used during Print Head Cleaning, for example.
This error message indicates that the ink absorber is nearly full.
Press the OK button to cancel the error so you can continue printing.
However, because printing is disabled once the ink absorber becomes completely full and until the ink absorber is replaced, you are recommended to contact your Canon service representative as early as possible. (You will need to replace a particular part of the machine.)